Acoustic motion estimation and control for an unmanned underwater vehicle in a structured environment

被引：16

作者：

Caccia, M

Casalino, G

Cristi, R

Veruggio, G

机构：

[1] CNR, Inst Automaz Navale, I-16149 Genoa, Italy

[2] Univ Genoa, Dipartimento Informat Sistemist & Telemat, Genoa, Italy

[3] USN, Postgrad Sch, Dept Elect & Comp Engn, Monterey, CA 93943 USA

来源：

CONTROL ENGINEERING PRACTICE | 1998年 / 6卷 / 05期

关键词：

underwater vehicles; navigation; guidance and control systems; motion-control systems; extended Kalman filter; identification; acoustics;

D O I：

10.1016/S0967-0661(98)00057-4

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of identification and navigation, guidance and control in unmanned underwater vehicles (UUVs) is addressed in this paper. A task-function-based guidance system and an acoustic motion estimation module have been integrated with a conventional UUV autopilot within a two-layered hierarchical architecture for closed-loop control. Basic techniques to estimate the robot dynamics using the sensors mounted on the vehicle have been investigated. The proposed identification techniques and navigation, guidance and control (NGC) system have been tested on Roby2, a UUV developed at the Istituto Automazione Navale of the Italian C.N.R. The experimental set-up, as well as the modalities and results, are discussed. (C) 1998 Published by Elsevier Science Ltd. All rights reserved.

引用

页码：661 / 670

页数：10

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